Introduction to 3D Imaging:
Perceiving 3D from 2D Images
How can we derive 3D information from one or more
2D images?
There have been 2 approaches:
1. intrinsic images: a 2D representation that stores some
3D properties of the scene
2. 3D shape from X: methods of inferring 3D depth
information from various sources
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What can you determine about
1. the sizes of objects
2. the distances of objects from the camera?
What knowledge
do you use to
analyze this image?
2
What objects are shown in this image?
How can you estimate distance from the camera?
What feature changes with distance?
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Intrinsic Images: 2.5 D
The idea of intrinsic images is to label features of a
2D image with information that tells us something
about the 3D structure of the scene.
occluding
edge
convex
edge
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Contour Labels for Intrinsic Images
• convex crease (+)
• concave crease (-)
• blade (>)
M
+
+
+
• limb (>>)
• shadow (S)
• illumination boundary (I)
• reflectance boundary (M)
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S
I
Labeling Simple Line Drawings
• Huffman and Clowes showed that blocks world drawings
could be labeled (with +, -, >) based on real world constraints.
• Labeling a simple blocks world image is a
consistent labeling problem!
• Waltz extended the work to cracks and shadows and
developed one of the first discrete relaxation algorithms,
known as Waltz filtering.
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Problems with this Approach
• Research on how to do these labelings was confined
to perfect blocks world images
• There was no way to extend it to real images with
missing segments, broken segments, nonconnected
junctions, etc.
• It led some groups down the wrong path for a while.
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3D Shape from X
• shading
• silhouette
• texture
• stereo
• light striping
• motion
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mainly research
used in practice
Perspective Imaging Model: 1D
real image
point E xi
This is the axis of the
real image plane.
f
O
zc
camera lens
image of point
D B in front image
xf
xc B
3D object
point
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O is the center of projection.
This is the axis of the front
image plane, which we use.
xi = xc
f
zc
Perspective in 2D
Yc
(Simplified)
P´=(xi,yi,f)
3D object point
P=(xc,yc,zc)
=(xw,yw,zw)
yc
ray
yi
F
f
xi
optical
axis
zw=zc
Zc
xc
Here camera coordinates
equal world coordinates.
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xi
xc
=
f
zc
yi = yc
f
zc
xi = (f/zc)xc
yi = (f/zc)yc
camera
Xc
3D from Stereo
left image
3D point
right image
disparity: the difference in image location of the same 3D
point when projected under perspective to two different cameras.
d = xleft - xright
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Depth Perception from Stereo
Simple Model: Parallel Optic Axes
image plane
camera L
z
Z
f
xl
b
baseline
f
camera R
xr
x-b
X
z
f
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=
x
xl
z
f
P=(x,z)
x-b
=
xr
z
f
=
y =
yl
y
yr
y-axis is
perpendicular
to the page.
Resultant Depth Calculation
For stereo cameras with parallel optical axes, focal length f,
baseline b, corresponding image points (xl,yl) and (xr,yr)
with disparity d:
z = f*b / (xl - xr) = f*b/d
x = xl*z/f or b + xr*z/f
y = yl*z/f or
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yr*z/f
This method of
determining depth
from disparity is
called triangulation.
Finding Correspondences
• If the correspondence is correct,
triangulation works VERY well.
• But correspondence finding is not perfectly solved.
for the general stereo problem.
• For some very specific applications, it can be solved
for those specific kind of images, e.g. windshield of
a car.
°
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°
2 Main Matching Methods
1. Cross correlation using small windows.
dense
2. Symbolic feature matching, usually using segments/corners.
sparse
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Epipolar Geometry Constraint:
1. Normal Pair of Images
The epipolar plane cuts through the image plane(s)
forming 2 epipolar lines.
z1
y1
z2
y2
P1
C1
b
P2
epipolar
plane
x
C2
The match for P1 (or P2) in the other image,
must lie on the same epipolar line.
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P
Epipolar Geometry:
General Case
P
y1
y2
P1
e2
e1
P2
x2
x1
C1
C2
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1. Epipolar Constraint:
Matching points lie on
corresponding epipolar
lines.
Constraints
P
2. Ordering Constraint:
Usually in the same
order across the lines.
Q
e2
e1
C1
C2
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Structured Light
light stripe
3D data can also be derived using
• a single camera
• a light source that can produce
stripe(s) on the 3D object
light
source
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camera
Structured Light
3D Computation
3D data can also be derived using
3D point
(x, y, z)
• a single camera
• a light source that can produce
stripe(s) on the 3D object
b
[x y z] = --------------- [x´ y´ f]
f cot  - x´ image
3D
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light
source

b
(0,0,0)
f
(x´,y´,f)
x axis
Depth from Multiple Light Stripes
What are these objects?
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Our (former) System
4-camera light-striping stereo
cameras
projector
rotation
table
3D
object
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